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Robocup Japan open 2017 field document

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(1)

Robocup 2017

in

1 Robocup 2017 Robocup

2016 .

1.1Maneuvering

5 Robocup

2017 5

1 .

Maneuvering Mobility

• MAN1 Center

Robocup 2017 MAN4

Crossover .

(2)

2. MAN1 Center 3. MAN1 Center

• MAN2 Align

75mm 1.8m 2 .

4. MAN2 Align 5. MAN2 Align

• MAN3 Traverse

30deg .

6.MAN3 Traverse 7.MAN3 Traverse

• MAN4 Crossover

(3)

15deg Robocup

2017 MAN1 Center

.

8. MAN4 Crossover 9. MAN4 Crossover

• MAN5 Negotiate

450mm 300mm

10. MAN5 Negotiate 11. MAN5 Negotiate

1.2Mobility Maneuvering

Robocup 2017 5

• MOB1 Hurdles

100mm 200mm .

(4)

12. MOB1 Hurdles 13. MOB1 Hurdles

• MOB2 Sand/Gravel Hills

Robocup 2017

. .

14. MOB2 Sand/Gravel Hills 15. MOB2 Sand/Gravel Hills

• MOB3 Step fields

75mm 75 ,

150,225,300375mm

16. MOB3 Step fields 17. MOB3 Step fields

(5)

• MOB4 Elevated Ramps

DRC 15deg 300mm

(0mm) 100mm,200mm 19

18. MOB4 Elevated Ramps 19. MOB4 Elevated Ramps

• MOB5 Stair Debri

.

20. MOB5 Stair Debri 21. MOB5 Stair Debri

1.3Dexterity

5

100mm 50mm

Robocup 2017 5

• DEX1 Parallel Pipes

(6)

4

15deg

22. DEX1 Parallel Pipes

• DEX2 Omni Directional Pipes

. Robocup

2017 DEX3 Cylindrical Pipes DEX5

Shoring .

23. DEX2 Omni Directional Pipes

• DEX3 Cylindrical Pipes

DEX1 450mm

. Robocup 2017

DEX2 Omni Directional Pipes DEX5 Shoring .

(7)

24. DEX3 Cylindrical Pipes

• DEX4 Door Opening

Robocup 2017

.

25. DEX4 Door Opening 26. DEX4 Door Opening

• DEX5 Shoring

. Robocup

2017 DEX2 Omni Directional Pipes

D DEX3 Cylindrical Pipes .

(8)

25. DEX5 Shoring

1.4Exploration

/ Robocup

2017 4

EXP1,2,3 26

26. Exploration

• EXP1 Map on Continuous Ramps 2D(3D)

28

27. EXP1 Map on Continuous Ramps

28. EXP1 Map on Continuous Ramps

(9)

• EXP2 Map on Crossing Ramps

EXP1 EXP1

30

29. EXP2 Map on Crossing Ramps

29. EXP2 Map on Crossing Ramps

• EXP3 Recognize Objects

QR . Robocup

2017 EXP1,2

• EXP4 Avoid Holes

(10)

30. EXP4 Avoid Holes 30. EXP4 Avoid Holes

2 Readiness Test

.

1

3

2

4

5

7

6

8

(11)

Thermal Image Resolution

Video Image Resolution QR

Collor/Pattern Recognition

Motion Detection

Touch

10mm .

Rotate

Extract

Inspect

Audio Acuity

Gas CO2

3

Robocup 2017

.

3.1 2 2

2 2 . .

• MAN1~5

• MOB1~5(MOB2 )

• EXP1~4

(12)

3.2 2

2 . .

•

• NIST

• WRS STM

• DEX1,2,3,4

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